Decentralized control is a longstanding challenge in systems theory. A decentralized controller may consist of multiple local controllers, connected to disjoint or overlapping sets of sensors and actuators, and where each local controller has limited ability to communicate directly with the remaining local controllers and, in addition, may lack global knowledge of the plant and operation of the remaining local controllers. In the present paper we apply adaptive control to investigate the ability of the local controllers to cooperate globally despite uncertainty, communication constraints, and possibly conflicting performance objectives. The approach we apply in this paper is based on retrospective cost adaptive control (RCAC). The development of RCAC assumes a centralized controller structure; the goal of the present paper is to investigate the stability and performance of RCAC in a decentralized setting.

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